[ODE] Patch to optimize the angles calculation of Universal joint

[Remi Ricard]

Hi,

This is patch optimize the way to get both angles for the Universal joint.

Instead of calling getUniversalAngle1 and getUniversalAngle2 and doing 
some redundant stuff I added the function getUniversalAngles(j, angle1, 
angle2).

I did some testing and the function universalGetInfo1
using the getUniversalAngles to find both angles is 23% faster.

The patch is done againts latest svn trunk (2006/04/27).

I submitted the patch on the sourceforge website.

I'm only posting this here to let the developer with svn acces know that 
there is a new patch.

The patch is produced with:
svn diff >> ../add_getUniversalAngles.patch

Description:
Add a function optimizing the calculation of both angles of the 
universal joint.


Remi